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United States Patent |
6,227,933
|
Michaud
,   et al.
|
May 8, 2001
|
Robot ball
Abstract
The robot ball comprises an encapsulating shell, a drive system and a
steering system. The shell has an axis of rotation and an outer annular
tread surface centered on the axis of rotation. The drive system is
encapsulated in the shell and comprises a first motorized mechanism and a
counterweight. The first motorized mechanism has a stator portion and a
rotor portion centered on the axis of rotation and connected to the shell.
The counterweight is connected to the stator portion and is spaced apart
from the axis of rotation whereby, due to inertia of the counterweight,
rotation of this rotor portion rotates the shell to roll the tread surface
on the ground. The steering system comprises a second motorized mechanism
through which the counterweight is connected to the stator portion. This
second motorized mechanism includes a pivot assembly having a pivot axis
transversal to the axis of rotation. Therefore, activation of the second
motorized mechanism rotates the counterweight about the pivot axis, tilts
the axis of rotation, displaces the center of gravity of the robot ball,
and thereby changes the trajectory of the robot ball. An inclinometer is
mounted on the stator portion to measure an inclination of the stator
portion about the axis of rotation, and a controller regulates the speed
of rotation of the rotor portion in relation to the measured inclination.
The robot ball further includes a second inclinometer so mounted on the
platform as to measure an inclination about the pivot axis. The controller
then controls the electric servomotor in relation to the measured platform
inclination about the pivot axis.
Inventors:
|
Michaud; Fran.cedilla.ois (Rock Forest, CA);
Caron; Serge (Sherbrooke, CA)
|
Assignee:
|
Universite de Sherbrooke (Sherbrooke)
|
Appl. No.:
|
594094 |
Filed:
|
June 15, 2000 |
Foreign Application Priority Data
Current U.S. Class: |
446/462; 446/458 |
Intern'l Class: |
A63H 029/02 |
Field of Search: |
446/443,458
|
References Cited
U.S. Patent Documents
2939246 | Jun., 1960 | Glos | 446/462.
|
2949696 | Aug., 1960 | Easterling | 446/462.
|
3722134 | Mar., 1973 | Merrill et al. | 446/462.
|
3798835 | Mar., 1974 | McKeehan | 46/243.
|
4726800 | Feb., 1988 | Kobayashi | 446/458.
|
4927401 | May., 1990 | Sonesson | 446/456.
|
5297981 | Mar., 1994 | Maxim et al. | 446/437.
|
5439408 | Aug., 1995 | Wilkinson | 446/409.
|
5533920 | Jul., 1996 | Arad et al. | 446/409.
|
5533921 | Jul., 1996 | Wilkinson | 446/409.
|
5692946 | Dec., 1997 | Ku | 446/456.
|
5823845 | Oct., 1998 | O'Berrigan | 446/234.
|
5947793 | Sep., 1999 | Yamakawa | 446/431.
|
Foreign Patent Documents |
2091218 | Mar., 1993 | CA.
| |
Primary Examiner: Ackun, Jr.; Jacob K.
Assistant Examiner: Francis; Faye
Attorney, Agent or Firm: Dubuc; Goudreau Gage
Claims
What is claimed is:
1. A robot ball comprising:
an encapsulating shell having an axis of rotation and an outer annular
tread surface centered on the axis of rotation; and
a drive system encapsulated in the shell and comprising:
a first motorized mechanism having a stator portion and a rotor portion
centered on the axis of rotation and connected to the shell;
a counterweight connected to the stator portion and spaced apart from the
axis of rotation whereby, due to inertia of the counterweight, rotation of
said rotor portion rotates the shell to roll the tread surface on the
ground; and
a steering system comprising:
a second motorized, counterweight displacing mechanism through which the
counterweight is connected to the stator portion, the second motorized
mechanism defining a course of displacement of the counterweight which
extends along the axis of rotation whereby, in operation, activation of
the second motorized mechanism displaces the counterweight along the axis
of rotation, tilts said axis of rotation, displaces the center of gravity
of the robot ball, and thereby changes the trajectory of the robot ball.
2. A robot ball as recited in claim 1, wherein the second motorized
mechanism includes a pivot assembly having a pivot axis transversal to the
axis of rotation whereby, in operation, activation of the second motorized
mechanism rotates the counterweight about the pivot axis, tilts the axis
of rotation, displaces the center of gravity of the robot ball, and
thereby changes the trajectory of the robot ball.
3. A robot ball as recited in claim 1, wherein the encapsulating shell
comprises a generally spherical outer face.
4. A robot ball as recited in claim 1, wherein the annular tread surface is
generally elliptical in a cross sectional plane in which the axis of
rotation is lying.
5. A robot ball as recited in claim 2, wherein the pivot axis is
substantially perpendicular to the axis of rotation.
6. A robot ball as recited in claim 1, wherein the stator portion comprises
a platform.
7. A robot ball as recited in claim 6, wherein:
the first motorized mechanism comprises at least one electric drive motor
having a stator and a rotor;
the stator of the electric motor is secured to the platform;
the rotor of the electric motor is centered on the axis of rotation and is
connected to the shell.
8. A robot ball as recited in claim 6, wherein:
the first motorized mechanism comprises first and second electric drive
motors each having a stator and a rotor;
the stator of the first electric drive motor is secured to the platform;
the stator of the second electric drive motor is secured to the platform;
the rotor of the first electric drive motor is centered on the axis of
rotation and is connected a first point of the shell; and
the rotor of the second electric drive motor is centered on the axis of
rotation and is connected to a second point of the shell diametrically
opposite to the first point of said shell.
9. A robot ball as recited in claim 2, wherein:
the stator portion comprises a platform having an underside;
the second motorized mechanism comprises an electric servomotor having a
stator and a rotor;
the stator of the electric servomotor is secured to the underside of the
platform; and
the rotor of the electric servomotor is centered on the pivot axis and is
connected to the counterweight.
10. A robot ball as recited in claim 1, wherein the counterweight comprises
an electric battery.
11. A robot ball as recited in claim 9, wherein the counterweight comprises
an electric battery and a bracket mechanically connecting the battery to
the rotor of the servomotor.
12. A robot ball as recited in claim 7, further comprising an inclinometer
so mounted on the platform as to measure an inclination of said platform
about the axis of rotation, and a controller of the speed of rotation of
said at least one electric drive motor in relation to the measured
platform inclination.
13. A robot ball as recited in claim 8, further comprising an inclinometer
so mounted on the platform as to measure an inclination of said platform
about the pivot axis, and a controller of the electric servomotor in
relation to the measured platform inclination about the pivot axis.
14. A robot ball as recited in claim 1, further comprising at least one
condition sensor and a robot ball controller responsive to said at least
one sensor, wherein said robot ball controller comprises a drive and
steering systems controller portion.
15. A robot ball as recited in claim 14, wherein said at least one
condition sensor comprises a robot ball spin sensor unit detecting
spinning of the robot ball.
16. A robot ball as recited in claim 14, further comprising a voice message
generating system controlled by the robot ball controller.
17. A robot ball as recited in claim 14, wherein said at least one
condition sensor comprises a voice instructions recognizing system.
18. A robot ball as recited in claim 14, wherein said at least one
condition sensor comprises a tactile system.
19. A robot ball as recited in claim 1, further comprising an obstacle
detector and a controller of said second motorized mechanism in response
to an obstacle detected by said obstacle detector.
20. A robot ball as recited in claim 19, wherein the obstacle detector is
an infrared obstacle detector comprising at least one infrared beam
generator and an infrared beam detector detecting infrared light generated
by the infrared beam generator after reflection of said infrared light by
an obstacle.
21. A robot ball as recited in claim 1, further comprising a controller of
the drive and steering systems, said controller comprising a generator of
various trajectories of the robot ball.
22. A robot ball comprising:
an encapsulating shell having an axis of rotation and an outer annular
tread surface centered on the axis of rotation; and
a drive system encapsulated in the shell and comprising:
a motorized mechanism having a stator portion and a rotor portion centered
on the axis of rotation and connected to the shell;
a counterweight connected to the stator portion and spaced apart from the
axis of rotation whereby, due to inertia of the counterweight, rotation of
said rotor portion rotates the shell to roll the tread surface on the
ground;
an inclinometer so mounted on the stator portion as to measure an
inclination of said stator portion about the axis of rotation; and
a controller of the speed of rotation of said rotor portion in relation to
the measured inclination.
23. A robot ball as recited in claim 22, wherein:
the stator portion comprises a platform;
said inclinometer is mounted on said platform;
the motorized mechanism comprises at least one electric drive motor having
a stator and a rotor;
the stator of the electric drive motor is secured to the platform;
the rotor of the electric drive motor is centered on the axis of rotation
and is connected the shell;
the inclinometer is mounted on the platform to measure an inclination of
said platform about the axis of rotation; and
said controller is a controller of the speed of rotation of the electric
drive motor in relation to the measured platform inclination.
Description
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to an autonomous robot ball capable of
displacing in various environments, including indoors as well as outdoors.
2. Brief Description of the Prior Art
Upon designing a robot, the main difficulty is to make it sufficiently
robust to sustain all environmental and operating conditions: shocks,
stairs, carpets, various obstacles, manipulations by the children in the
case of a toy, etc.
Prior art wheeled robot can turn upside down and, then, be incapable of
relieving this deadlock.
A prior art solution to this problem is to use wheels bigger than the body
of the robot. However, this does not prevent the robot from blocking in
elevated position onto an object.
Another solution to this problem is described in the following prior art
patents:
U.S. 3,798,835 (McKeehan) Mar. 26, 1974
U.S. 5,533,920 (Arad et al.) Jul. 9, 1996
U.S. 5,947,793 (Yamakawa) Sep. 7, 1999
CA 2 091 218 (Christen) Jul. 5, 1994
This solution consists of building a robot around a spherical shell
enclosing a drive system. This drive system comprises an electric drive
motor for rotating the spherical shell about an axis of rotation and
thereby propelling the robot. The counter-rotating force on the electric
drive motor is produced by a counterweight spaced apart from the axis of
rotation. A drawback of such prior art robot balls is that steering
thereof is not provided for.
OBJECTS OF THE INVENTION
An object of the present invention is therefore to provide a robot ball
having steering capabilities.
Another object of the present invention is to provide a robot ball
comprising an inclinometer to control the speed of rotation of the
electric drive motor in relation to the angular position of the
counterweight about the axis of rotation.
SUMMARY OF THE INVENTION
More specifically, in accordance with the present invention, there is
provided a robot ball comprising an encapsulating shell, a drive system
encapsulated in the shell and comprising a first motorized mechanism and a
counterweight, and a steering system comprising a second motorized,
counterweight displacing mechanism. The encapsulating shell has an axis of
rotation and an outer annular tread surface centered on this axis of
rotation. The first motorized mechanism has a stator portion and a rotor
portion centered on the axis of rotation and connected to the shell. The
counterweight is connected to the stator portion and spaced apart from the
axis of rotation whereby, due to inertia of the counterweight, rotation of
the rotor portion rotates the shell to roll the tread surface on the
ground. The second motorized mechanism connects the counterweight to the
stator portion, and defines a course of displacement of the counterweight
which extends along the axis of rotation.
In operation, activation of the second motorized mechanism displaces the
counterweight along the axis of rotation, tilts this axis of rotation,
displaces the center of gravity of the robot ball, and thereby changes the
trajectory of the robot ball. This provides for steering of the robot
ball.
According to a preferred embodiment, the second motorized mechanism
includes a pivot assembly having a pivot axis transversal to the axis of
rotation whereby, in operation, activation of the second motorized
mechanism rotates the counterweight about the pivot axis, tilts the axis
of rotation, displaces the center of gravity of the robot ball, and
thereby changes the trajectory of the robot ball.
In accordance with other preferred embodiments of the robot ball:
the encapsulating shell comprises a generally spherical outer face;
the annular tread surface is generally elliptical in a cross sectional
plane in which the axis of rotation is lying;
the pivot axis is substantially perpendicular to the axis of rotation;
the stator portion comprises a platform;
the first motorized mechanism comprises at least one electric drive motor
having a stator and a rotor, the stator of the electric motor is secured
to the platform, the rotor of the electric motor is centered on the axis
of rotation and is connected the shell;
the first motorized mechanism comprises first and second electric drive
motors each having a stator and a rotor, the stator of the first electric
drive motor is secured to the platform, the stator of the second electric
drive motor is secured to the platform, the rotor of the first electric
drive motor is centered on the axis of rotation and is connected a first
point of the shell, and the rotor of the second electric drive motor is
centered on the axis of rotation and is connected to a second point of the
shell diametrically opposite to the first point of this shell;
the platform comprises an underside, the second motorized mechanism
comprises an electric servomotor having a stator and a rotor, the stator
of the electric servomotor is secured to the underside of the platform,
and the rotor of the electric servomotor is centered on the pivot axis and
is connected to the counterweight;
the counterweight comprises an electric battery;
the counterweight comprises an electric battery and a bracket to
mechanically connect the battery to the rotor of the servomotor;
the robot ball further comprises an inclinometer so mounted on the platform
as to measure an inclination of this platform about the pivot axis, and a
controller of the electric servomotor in relation to the measured platform
inclination about the pivot axis; and
the robot ball further comprises at least one external sensors and a robot
ball controller responsive to these sensors, these external sensors
comprise a robot ball spin sensor unit detecting spinning of the robot
ball, a voice instructions recognising system, and/or a tactile system,
and the robot ball further comprises a voice message generating system
controlled by the robot ball controller;
the robot ball further comprises an obstacle detector and a controller of
the second motorized mechanism in response to an obstacle detected by the
obstacle detector.
Also in accordance with the present invention, there is provided a robot
ball comprising an encapsulating shell, a drive system encapsulated in the
shell and comprising a motorized mechanism and a counterweight, an
inclinometer and a controller. The encapsulating shell has an axis of
rotation and an outer annular tread surface centered on the axis of
rotation. The motorized mechanism has a stator portion and a rotor portion
centered on the axis of rotation and connected to the shell. The
counterweight is connected to the stator portion and spaced apart from the
axis of rotation whereby, due to inertia of the counterweight, rotation of
the rotor portion rotates the shell to roll the tread surface on the
ground. The inclinometer is so mounted on the stator portion as to measure
an inclination of this stator portion about the axis of rotation, and the
controller regulates the speed of rotation of the rotor portion in
relation to the measured inclination.
In this manner, the inclinometer allows the robot ball to control the
angular position of the motorized mechanism about the axis of rotation.
Preferably, the stator portion comprises a platform and the inclinometer is
mounted on the platform.
According to a preferred embodiment, the motorized mechanism comprises at
least one electric drive motor having a stator and a rotor, the stator of
the electric drive motor is secured to the platform, the rotor of the
electric drive motor is centered on the axis of rotation and is connected
the shell, the inclinometer is mounted on the platform to measure an
inclination of this platform about the axis of rotation, and the
controller is a controller of the speed of rotation of the electric drive
motor in relation to the measured platform inclination.
Other objects, advantages and features of the present invention will become
more apparent upon reading of the following non-restrictive description of
a preferred embodiment thereof, given by way of example only with
reference to the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
In the appended drawings:
FIG. 1 is a side, perspective view of the preferred embodiment of the robot
ball according to the present invention;
FIG. 2 is a side elevational view of the robot ball of FIG. 1;
FIG. 3 is a rear, perspective view of the robot ball of FIG. 1;
FIG. 4 is a side, elevational view of the drive and steering systems of the
robot ball of FIG. 1;
FIG. 5 is a side, elevational view of the drive and steering systems of the
robot ball of FIG. 1;
FIG. 6 is another side, elevational view of the drive and steering systems
of the robot ball of FIG. 1;
FIG. 7 is a rear, elevational view of the drive and steering systems of the
robot ball of FIG. 1;
FIG. 8 is another rear, elevational view of the drive and steering systems
of the robot ball of FIG. 1;
FIG. 9 is a top plan view of an obstacle detector of the robot ball of FIG.
1;
FIG. 10 is a schematic block diagram of an electronic controller of the
robot ball of FIG. 1; and
FIG. 11 is a schematic block diagram showing different states of the robot
ball.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
A preferred embodiment of the robot ball according to the present invention
will now be described. In the appended drawings, the robot ball is
generally identified by the reference 1. Also, identical elements are
identified by the same references in the different figures of the
drawings.
Encapsulating Shell 2
As illustrated in FIGS. 1-3, the robot ball 1 is encapsulated in a shell 2.
As will be seen in the following description, the shell 2 is rotated about
an axis of rotation 3 to propel the robot ball 1. For that purpose, the
shell 2 will be preferably spherical to provide for a uniform tread 4
semicircular in the cross section defined by a plane in which the axis of
rotation 3 is lying.
In the present specification and the appended claims, the term "ground" is
intended to designate interior ground surfaces as well as exterior ground
surfaces. This will include the floor of a house, concrete floors, lawn,
pavement, etc.
However, this is within the scope of the present invention to provide a
shell 2 which is oval-shaped in the same cross section, defined by a plane
in which the axis of rotation 3 is lying. In such a case, the tread 4 will
be broadly elliptical in cross section. This is even within the scope of
the present invention to provide a shell 2 having a tread 4 broadly
elliptical in cross section in the above defined plane in which the axis 3
is lying, with two parallel, flat opposite sides.
Generally speaking, the shell 2 will present a shape susceptible to
facilitate displacement of the robot ball 1. To that effect, the shell 2
will be spherical or oval-shaped as described above. The shell 2 can also
be hexagonal, spherical with cylindrical extensions centered on the axis
of rotation 3, etc. The shell 2 may further comprise paddles to displace
the robot ball 1 on a surface of water.
Also, the surface of the tread 4 can be formed with corrugations such as 5
to better grip the surface of the ground.
Of course, the shell 2 can be reinforced as required for example by means
of inner ribs. The shell 2 can further be made of transparent plastic
material to enable any detection, for example to enable machine vision and
obstacle detection, from inside the shell 2.
Finally, the shell 2 can be made of two hemispheric parts or more than two
parts which can be dismantled to enable opening of the shell 2 and
therefore maintenance or repair of the robot ball 1. An alternative is to
provide the shell 2 with an access door.
Drive System
The robot ball 1 also comprises a drive system to roll the tread 4 of the
shell 2 on the ground and therefore propel the robot ball 1. The drive
system generally comprises a platform 6, a pair of reversible electric
drive motors 7 and 8, and a counterweight 9.
Platform 6
As it will be described hereinafter, the platform 6 supports most of the
internal components of the robot ball 1, including the counterweight 9. As
illustrated in FIG. 1, the platform 6 is generally flat. Also, since the
illustrated shell 2 is generally spherical, the platform 6 is shown
generally circular, although a generally hexagonal or other suitable
shapes can be contemplated. In the case of an oval-shaped shell 2, the
platform 6 could present a corresponding oval shape.
Drive Motors 7 and 8
Referring to FIG. 3, electric drive motor 7 comprises a housing 10 (stator)
fixedly secured to the platform 6. Electric drive motor 7 also comprises a
rotative shaft 11 (rotor) connected to a first point of the shell 2 along
the axis of rotation 3. Just a word to mention that the shaft 11 is
connected to the shell 2 to rotate said shell 2 therewith about axis 3.
For that purpose, the shaft 11 is centered on the axis of rotation 3 as
illustrated in FIG. 3.
In the same manner, electric drive motor 8 comprises a housing 12 (stator)
fixedly secured to the platform 6. Electric drive motor 8 also comprises a
rotative shaft 13 (rotor) connected to a second point of the shell 2
diametrically opposite to the above mentioned first point. Just a word to
indicate that the shaft 13 is connected to the shell 2 to rotate said
shell 2 therewith about axis 3. For that purpose, the shaft 13 is centered
on the axis of rotation 3 as illustrated in FIG. 3.
Accordingly, rotation of the shafts 11 and 13 of the electric drive motors
7 and 8 in one angular direction will rotate the shell 2 therewith in the
same direction about the axis of rotation 3. While rotation of the shafts
11 and 13 will tend to rotate the platform 6 about the axis of rotation 3,
the inertia of the counterweight 9 will provide the necessary
counter-rotating force on the drive motors 7 and 8 to maintain the
platform 6 in a substantially horizontal position as shown in FIG. 2.
Those of ordinary skill in the art will appreciate that rotation of the
shafts 11 and 13, in combination with the inertia of the counterweight 9
will cause rolling of the tread 4 on the ground to propel the robot ball
1.
In the absence of obstacles along the trajectory of the robot ball 1, speed
regulation of the electric motors 7 and 8 will keep the platform 6
substantially horizontal over the duration of the displacement.
Since the electric drive motors 7 and 8 are reversible, the direction of
movement of the robot ball 1 can be reversed by reversing the direction of
rotation of these electric drive motors 7 and 8.
Also, just a word to mention that the two drive motors 7 and 8 could be
replaced by a single motor, if desired.
It should also be mentioned that the drive motors 7 and 8 can be equipped
with single encoders or, alternatively, encoders in quadrature to enable a
better regulation of the speed of rotation of the drive motors 7 and 8 and
therefore the speed and trajectory of the robot ball 1.
Counterweight 9
The counterweight 9 comprises a battery 14 presenting, in the illustrated
example, the general configuration of an elongated parallelepiped. The
battery 14 is supported from the underside of the platform 6 by a pair of
end brackets 15 and 16.
The battery 14 is preferably a rechargeable battery; charge connectors (not
shown) for charging the battery 14 can be provided on the outer face of
the shell 2 in the proximity of the axis 3 of this shell 2.
As described hereinabove, the shell 2 can be opened for maintenance and
repair purposes. Therefore, if non rechargeable batteries are used, the
shell 2 can be opened when required to change the batteries.
Referring to FIGS. 2 and 3, the counterweight 9 can be pivoted about a
pivot axis 17 perpendicular to the axis 3 but parallel to the plane of the
platform 6.
For that purpose, a bracket 18 is secured to the underside of the platform
6 and the upper portion of the bracket 15 is connected to the underside
bracket 18 through a pivot 19 centered on the pivot axis 17.
For the same purpose, the upper portion of the bracket 16 is connected to
the underside of the platform 6 through a reversible electric servomotor
20. Servomotor 20 comprises a housing 21 (stator) fixedly secured to the
underside of the platform 6. Servomotor 20 also comprises a rotative shaft
22 (rotor) centered on the pivot axis 17. Just a word to mention that the
rotative shaft 22 is connected to the upper portion of the bracket 16 in
such a manner that the bracket 16 will be set into rotation about the
pivot axis 17 by rotation of the shaft 22.
In operation, activation of the servomotor 20 will rotate the counterweight
9 about the axis 17 to displace this counterweight along the axis of
rotation 8 and change the center of gravity of the robot ball 1. Due to
the force of gravity and the inertia of the counterweight 9, this will
cause tilting of the platform 6 and axis of rotation 3 about the pivot
axis 17 (see FIG. 3) by providing the necessary counter-rotating force on
the drive motors 7 and 8. Those of ordinary skill in the art will
appreciate that, in the position of FIG. 3, rotation of the shafts 11 and
13 of the electric drive motors 7 and 8 will still roll the shell 2 on the
ground 23. However, since the circular portion of the tread 4 contacting
the ground is still centered on the axis of rotation 3 but is offset
laterally from the central plane of symmetry of the shell 2 perpendicular
to this axis 3, the trajectory of the robot ball 1 will then be
semicircular. Therefore, appropriate operation of the servomotor 20 to
rotate the shaft 22 and counterweight 9 in either direction will control
the direction of movement of the robot ball on the ground 23. This will
enable steering of the robot ball 1.
Just a word to mention that it is within the scope of the present invention
to implement other structures of counterweight.
Of course, the battery 14 constitutes the source of energy of the robot
ball 1, in particular but not exclusively to supply the motors 7, 8 and
20. However, just a word to point out that use of motors other than
electric motors can be contemplated.
Inclinometers
The robot ball further comprises a pair of inclinometers to detect angular
positions of the platform 6 with respect to the horizontal, and more
specifically about axes 3 and 17, respectively.
Referring to FIG. 4, the first inclinometer 24 detects tilt of the platform
6 about the axis of rotation 3. Inclinometer 24 is formed of four mercury
switches 241, 242, 243 and 244 respectively positioned at angles of
15.degree., 75.degree., 105.degree. and 165.degree. with respect to the
plane of the platform 6. This arrangement of four mercury switches 241-244
will enable detection of eight (8) angular positions of the platform 6
about the axis of rotation 3:
horizontal (all the mercury switches 241-244 are closed as shown in FIG.
4);
tilted upwardly (switches 241-243 closed and switch 244 open as shown in
FIG. 5);
face upward (switches 241-242 closed and switches 243-244 open as shown in
FIG. 6)
reversed upwardly (switch 241 closed and switches 242-244 open);
reversed (all the mercury switches 241-244 open);
reversed downwardly (switch 244 closed and switches 241-243 open);
face downward (switches 243-244 closed and switches 241-242 open);
tilted downwardly (switches 242-244 closed and switch 241 open).
Also, the mercury switches 241-244 will detect an impact between the robot
ball 1 and an obstacle since, in such a case, the platform 6 and
counterweight 9 will complete a turn about the axis 3.
Reading of the inclinometer 24 will enable the robot ball 1 to break
intricate deadlocks unbreakable by conventional wheeled robots.
Referring to FIG. 7, the second inclinometer 25 detects tilt of the
platform 6 about the pivot axis 17. Inclinometer 25 is formed of two (2)
mercury switches 251 and 252 respectively slightly tilted toward each
other. Mercury switches 251 and 252 will detect tilt of the platform 6 and
shell 2 toward the left or the right, respectively. The arrangement of two
(2) mercury switches 251-252 will enable detection of three (3) angular
positions of the platform 6 about the pivot axis 17:
horizontal (the mercury switches 251 and 252 are closed as shown in FIG.
7);
tilted toward the left (switch 252 closed and switch 251 open); and
tilted toward the right (switch 251 closed and switch 252 open as shown in
FIG. 8).
The position and inclination of the mercury switch 251 and 252 will also
enable detection of spinning of the robot ball 1 about a vertical axis; in
this case the two (2) switches will be opened by the produced centrifugal
force.
Of course, it is within the scope of the present invention to use other
types of switches and/or inclinometers, as well as other types of tilt
sensors.
Obstacle Detector
Referring to FIGS. 1 and 9, the top, front portion of the platform 6 is
equipped with an obstacle detector 26 designed to detect obstacles such as
27 (FIG. 9).
The obstacle detector 26 comprises a pair of infrared light-emitting diodes
261 and 262 and an infrared detector 263 such as a phototransistor.
In operation, the diodes 261 and 262 will emit infrared light beams such as
28 (FIG. 9). Light beam such as 28 will reflect on an obstacle such as 27,
and the reflected light beam such as 29 will reach the infrared detector
263 to thereby detect of the obstacle 27. Obviously, operation of the
obstacle detector 26 requires adequate transparency of the shell 2 which,
for example, can be made of transparent plastic material.
Of course, the use of other types of obstacle detector could be
contemplated without departing from the spirit of the present invention.
Controller
As illustrated in FIG. 9, the robot ball 1 is further provided with an
electronic controller 30. Of course, the controller 30 is supplied with
electric energy from the battery 14.
The architecture of the electronic controller 30 is illustrated, by way of
a schematic block diagram, in FIG. 10. In the following example, an
application of the robot ball 1 as a toy will be considered although many
other applications of the robot ball 1 could be contemplated.
As illustrated in FIG. 10, the controller 30 comprises behaviour modules
101-105 responsive to the signals from the inclinometers 24 and 25 and the
obstacle detector 26 to control the above defined driving system to:
move forward or backward the robot ball 1 (module 101), while controlling
the speed of rotation of the drive motors 7 and 8 in response to signals
from the inclinometer 24 to keep the platform 6 as horizontal as possible;
direct the robot ball 1 along a straight line by keeping the platform 6 as
horizontal as possible through the servomotor 20 and with the help of the
inclinometer 25 (module 102);
turn left or right by tilting the platform 6 about pivot axis 17 in either
direction through the servomotor 20 and in relation to the signal from the
inclinometer 25 (module 103);
deactivate the drive motors 7 and 8 when the inclinometer 24 detects that
the platform 6 is reversed in order to return this platform to its normal
position (module 105);
avoid obstacles by turning, deactivating the drive motors 7 and 8, or
reversing the direction of rotation of these drive motors 7 and 8 in
response to an obstacle-indicative signal from the obstacle detector 26
(module 104);
etc.
The controller 30 further comprises a behaviour module 106 to enable the
robot ball 1 to play music and/or sing and a behaviour module 107 to
enable the robot ball 1 to speak.
The behaviour modules 101-107 are shown in FIG. 10 according to an order of
priority. More specifically, the degree of priority of the various modules
101-107 increases from bottom to top in the control of:
the speed of rotation of the drive motors 7 and 8;
the rotation of the counterweight 9 about pivot axis 17;
a buzzer 108 for producing the music, songs and/or sound effects; and
a speech synthesiser 109 for producing vocal messages;
taking into consideration whether the modules are activated and the
associated detection conditions (inclinometers 24 and 25 and detector 26)
are met.
Activation of the behaviour modules 101-107 is determined and controlled by
the goal management module 110 through the links 111. Also, activation of
the parameters of configuration of the behaviour modules 106 and 107 is
determined and controlled by an internal analyser module 112. Activation
of the behaviour modules 101-107 as well as the parameters of
configuration of the behaviour modules 106 and 107 is carried out on the
basis of internal variables called "motives" (see module 113). These
motives are variables having a level of excitation varying between 0% and
100% and a level of activation of 0 or 1. The level of activation is
determined by the level of excitation, and indicates whether the behaviour
modules are activated or not. The level of excitation examines different
factors such as sensors 24-26, behaviour use and influence of the other
motives, and add their respective influences in time.
For example, in the case of an application of the robot ball as a toy and
when the robot ball frequently hits obstacles, the incentives can be
AWAKENING, NEED BATTERY RECHARGE, and DISTRESS.
In the case of DISTRESS, goal management module 110 and the internal
analyser module 112 controls the behaviour module 107 to generate a
distress vocal message reproduced through the speech synthesiser 109. The
goal management module 110 also controls the behaviour modules 101-105 for
example to modify the direction of rotation of the drive motors 7 and 8
and the angular position of the counterweight 9 about axis 17 in an
attempt to break the deadlock. If the deadlock has not been broken after a
certain period of time, all the behaviour modules are inhibited during a
given period of time to allow the robot ball to stabilise before it
attempts again to break the deadlock.
In the case of NEED BATTERY RECHARGE, goal management module 110 and the
internal analyser module 112 controls the behaviour module 107 to generate
a vocal message reproduced through the speech synthesiser 109 that the
robot ball 1 needs battery recharge. The goal management module 110 also
inhibits all the other behaviour modules 101-105.
In the case of AWAKENING, goal management module 110 and the internal
analyser module 112 controls the behaviour modules 101-107 for normal
operation of the robot ball 1 as described hereinafter.
Obviously, it is within the scope of the present invention to use another
architecture of controller capable of fulfilling the same, similar or
other functions.
States of the Robot Ball
States of the robot ball 1 are shown, for the purpose of exemplification
only, in FIG. 11.
During AWAKENING (state 120), the goal management module 110 controls the
behaviour modules 101-107 to periodically stop movement of the robot ball
1. The goal management module 110 then asks for a period of rest (state
121) of the robot ball 1 through the internal analyser module 112, the
behaviour module 107 and the speech synthesiser 109.
During the periods of rest of the robot ball 1, the goal management module
110 asks the child to spin it (state 122), to shake it (state 123), or to
push it (state 124) through the internal analyser module 112, the
behaviour module 107 and the speech synthesiser 109. The goal management
module 110 periodically repeats this request.
If the sensors 24-26 indicate that the child did comply with the request,
the goal management module 110 thanks the child through the internal
analyser module 112, the behaviour module 107 and the speech synthesiser
109.
If the sensors 24-26 indicate that the child did not correctly respond to
the request, the goal management module 110 asks the child to stop through
the internal analyser module 112, the behaviour module 107 and the speech
synthesiser 109.
If the child does no comply with the request, the goal management module
110 then indicates through the internal analyser module 112, the behaviour
module 107 and the speech synthesiser 109, that the robot ball 1 is bored.
In the case of a request to spin the robot-ball, the goal management module
110 generates messages related to the rotation of the robot ball through
the internal analyser module 112, the behaviour module 107 and the speech
synthesiser 109:
when spinning detected through the centrifugal force applied to the mercury
switches 251 and 252 of the inclinometer 25 is fast, the goal management
module 110 indicates that the robot ball 1 is dizzy;
otherwise, the goal management module 110 asks the child to spin the robot
ball 1 again.
A given period of time after the robot ball 1 has been spun or shaken, the
goal management module 110 reactivates the behaviour modules 101-107 and
the robot ball 1 moves again until the AWAKENING cycle is completed. After
the robot ball 1 has been pushed, the goal management module 110
reactivates the behaviour modules 101-107 and the robot ball 1 moves again
until the AWAKENING cycle is completed. The goal management module 110
then deactivates the behaviour modules to inactivate the robot ball 1
during a certain period of time before it returns to the AWAKENING mode.
The periods of occurrence of the states of the robot ball 1 are determined
by means of fixed increments or randomly generated levels so as to create
no automatism.
Other messages can be generated by the goal management module 110 through
the internal analyser module 112, the behaviour module 107 and the speech
synthesiser 109 in response to particular events detected by the modules
25-26. Examples of such messages are given below:
Message Event
Oups! The platform 6 has reversed
Help! The platform 6 often reverses
Weeeeee! The robot ball is spun, upon request
Thank you The robot ball 1 has been recharged or the child
has complied with one request
Stop, please The robot ball 1 is displaced during a rest
period
I'm bored The child does not comply with the requests of
the robot ball 1
Push me gently, please During a rest period, the robot ball 1 asks the
child to push it to move again
Spin me, please During a rest period, the robot ball 1 asks the
child to spin it
Shake me gently, During a rest period, the robot ball asks the
please child to shake it gently
I feel dizzy The child spun the robot ball
Charge me, please The robot ball needs to be charged
See you The AWAKENING cycle is over
Hello, how are you The AWAKENING cycle begins
(Name of the child) Name of the child used in certain messages in
order to personalize these messages
Obviously, a system for recording the name of the child must be implemented
if the last feature of the above table is to be used.
It is also within the scope of the present invention to implement a voice
recognition system (block 125 of FIG. 10) to enable the robot ball 1 to
respond to vocal instructions. It is further within the scope of the
present invention to implement an inductive tactile system (block 125 of
FIG. 10) to enable the robot ball 1 to respond to tactile stimuli.
Just a word to mention that it would be possible to implement a system
enabling parents to modify or add certain messages to personalize the
robot ball 1 by:
as mentioned earlier in the description, recording the name of the child;
store vocal messages that the robot ball 1 will periodically repeat to the
child at various frequencies;
enabling the robot ball to recognize only vocal commands from a particular
child;
etc.
These features are interesting since they will enable the use of the robot
for educative and even therapeutic purposes, for example to help an
autistic child to open himself to the exterior world.
Although an application of the robot ball 1 as a toy has been described as
preferred embodiment in the foregoing description, it is also intended to
develop other versions of the robot ball 1 using the same concept but
adapted to other applications such as exploration, on-site measurements,
inspection of conduits, landmine detection, over water, etc.
The robot ball 1 presents, amongst others, the following advantages:
different trajectories of movement can be implemented in relation to the
program of the controller and detection through various sensors such as
24-26;
a robot ball 1 encapsulated into a shell 2 is capable of displacing
naturally in its environment with lower risks to fall into a deadlock;
the shell 2 is impervious and protect the robot ball from dust and debris;
in the application as a toy, the shell 2 protects the robot ball from
shocks and improper use by the children;
the shape of the shell 2 corresponds to the shape of a ball;
the trajectories of the robot ball 1 generated by the controller can be
easily reconfigured through simple programming;
interactive use of the robot ball 1 is possible through vocal messages;
implementation of an inductive tactile system is possible;
etc.
Although the present invention has been described hereinabove by way of a
preferred embodiment thereof, this embodiment can be modified at will,
within the scope of the appended claims, without departing from the spirit
and nature of the subject invention.
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